Edge detection system

A robotic device comprising:

• a chassis;
• a set of wheels coupled to the chassis;
• a motor to drive the wheels;
• a processor;
• a memory;
• a battery;
• one or more rangefinder sensors;
• and
• a tangible, non-transitory, machine-readable medium storing instructions that when executed by the processor effectuate operations comprising:
• obtaining, with the one or more rangefinder sensors, distances from the one or more rangefinder sensors to a surface;
• monitoring, with the processor, the distances sensed by each of the one or more rangefinder sensors;
• detecting, with the processor, an edge when a change in the distances is greater than a predetermined amount;
• and
• actuating, with the processor, the robotic device to execute one or more movement patterns upon detecting the edge, wherein the one or more movement patterns initiates movement of the robotic device away from the area where the edge was detected.